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Merge pull request #2680 from bnn1044/CLRACINGF4AIR

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ADD CLRACINGF4AIRV2,fix bug for motor output for CLRACINGF4AIR
This commit is contained in:
Konstantin Sharlaimov 2018-02-01 11:57:30 +10:00 • committed by GitHub
commit e7836acd8c
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GPG key ID: 4AEE18F83AFDEB23
5 changed files with 50345 additions and 35 deletions
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1
src/main/target/CLRACINGF4AIR/CLRACINGF4AIRV2.mk Normal file
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@ -0,0 +1 @@
#CLRACINGF4AIRV2

29
src/main/target/CLRACINGF4AIR/target.c
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@ -21,17 +21,22 @@
#include "drivers/timer.h"
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM4, IO_TAG(PB8), TIM_Channel_3, 1, IOCFG_AF_PP, GPIO_AF_TIM4, TIM_USE_LED }, // LED_STRIP
{ TIM11, IO_TAG(PB9), TIM_Channel_1, 0, IOCFG_AF_PP, GPIO_AF_TIM11, TIM_USE_PPM | TIM_USE_PWM }, // PPM
{ TIM3, IO_TAG(PB0), TIM_Channel_3, 1, IOCFG_AF_PP, GPIO_AF_TIM3, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR }, // MOTOR_1
{ TIM3, IO_TAG(PB1), TIM_Channel_4, 1, IOCFG_AF_PP, GPIO_AF_TIM3, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR }, // MOTOR_2
{ TIM9, IO_TAG(PA3), TIM_Channel_2, 1, IOCFG_AF_PP, GPIO_AF_TIM9, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // SERVO_1
{ TIM2, IO_TAG(PA2), TIM_Channel_3, 1, IOCFG_AF_PP, GPIO_AF_TIM2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // SERVO_2
{ TIM5, IO_TAG(PA1), TIM_Channel_2, 1, IOCFG_AF_PP, GPIO_AF_TIM2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // SERVO_3
{ TIM1, IO_TAG(PA8), TIM_Channel_1, 1, IOCFG_AF_PP, GPIO_AF_TIM1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // SERVO_4
{ TIM11, IO_TAG(PB9), TIM_Channel_1, 0, IOCFG_AF_PP, GPIO_AF_TIM11, TIM_USE_PPM | TIM_USE_PWM }, // PPM
{ TIM4, IO_TAG(PB8), TIM_Channel_3, 1, IOCFG_AF_PP, GPIO_AF_TIM4, TIM_USE_LED }, // LED_STRIP
#if defined(CLRACINGF4AIRV2)
{ TIM3, IO_TAG(PB0), TIM_Channel_3, 1, IOCFG_AF_PP, GPIO_AF_TIM3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // SERVO 3 ELE
{ TIM3, IO_TAG(PB1), TIM_Channel_4, 1, IOCFG_AF_PP, GPIO_AF_TIM3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // SERVO 4 ROLL 1
{ TIM12, IO_TAG(PB15), TIM_Channel_2, 1, IOCFG_AF_PP, GPIO_AF_TIM12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // SERVO 5 ROLL 1
{ TIM8, IO_TAG(PC8), TIM_Channel_3, 1, IOCFG_AF_PP, GPIO_AF_TIM8, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR }, // MOTOR 1 ESC
{ TIM8, IO_TAG(PC9), TIM_Channel_4, 1, IOCFG_AF_PP, GPIO_AF_TIM8, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR }, // MOTOR 2 ESC
{ TIM1, IO_TAG(PA8), TIM_Channel_1, 1, IOCFG_AF_PP, GPIO_AF_TIM1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // SERVO 6 YAW
#else
{ TIM3, IO_TAG(PB0), TIM_Channel_3, 1, IOCFG_AF_PP, GPIO_AF_TIM3, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR }, // MOTOR_1
{ TIM3, IO_TAG(PB1), TIM_Channel_4, 1, IOCFG_AF_PP, GPIO_AF_TIM3, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR }, // MOTOR_2
{ TIM9, IO_TAG(PA3), TIM_Channel_2, 1, IOCFG_AF_PP, GPIO_AF_TIM9, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // SERVO_1
{ TIM2, IO_TAG(PA2), TIM_Channel_3, 1, IOCFG_AF_PP, GPIO_AF_TIM2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // SERVO_2
{ TIM12, IO_TAG(PB15), TIM_Channel_2, 1, IOCFG_AF_PP, GPIO_AF_TIM12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // SERVO_3
{ TIM1, IO_TAG(PA8), TIM_Channel_1, 1, IOCFG_AF_PP, GPIO_AF_TIM1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO }, // SERVO_4
#endif
};

71
src/main/target/CLRACINGF4AIR/target.h
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@ -14,15 +14,16 @@
*/
#pragma once
#define TARGET_BOARD_IDENTIFIER "CLRAIR"
#if defined(CLRACINGF4AIRV2)
#define TARGET_BOARD_IDENTIFIER "CLA2"
#define USBD_PRODUCT_STRING "CLRACINGF4AIRV2"
#else
#define TARGET_BOARD_IDENTIFIER "CLRA"
#define USBD_PRODUCT_STRING "CLRACINGF4AIR"
#ifdef OPBL
#define USBD_SERIALNUMBER_STRING "0x8020000"
#endif
#define LED0 PB5
#define BEEPER PB4
#define BEEPER PB4
#define BEEPER_INVERTED
#define INVERTER_PIN_UART1 PC0 // PC0 used as inverter select GPIO
@ -75,55 +76,83 @@
#define UART1_RX_PIN PA10
#define UART1_TX_PIN PA9
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
//V2 add another uart 2
#if defined( CLRACINGF4AIRV2 )
#define USE_UART2
#define UART2_RX_PIN PA2
#define UART2_TX_PIN PA3
#endif
#define USE_UART3
#define UART3_RX_PIN PB11
#define UART3_TX_PIN PB10
#define USE_UART4
#define UART4_RX_PIN PA1
#define UART4_TX_PIN PA0
#define USE_UART4
#define UART4_RX_PIN PA1
#define UART4_TX_PIN PA0
#define USE_UART6
#define UART6_RX_PIN PC7
#define UART6_TX_PIN PC6
#if defined( CLRACINGF4AIRV2 )
#define SERIAL_PORT_COUNT 6 //VCP, USART1, UART2, USART3,USART4, USART6,
#else
#define SERIAL_PORT_COUNT 5 //VCP, USART1, USART3,USART4, USART6,
#endif
#define USE_ESCSERIAL
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
#if defined( CLRACINGF4AIRV2 )
#define USE_I2C
#define I2C_DEVICE (I2CDEV_2)
#define I2C2_SCL PB10
#define I2C2_SDA PB11
#endif
#define USE_SPI
#define USE_SPI_DEVICE_1
#define USE_SPI_DEVICE_3
#define SPI3_NSS_PIN PA15
#define SPI3_SCK_PIN PC10
#define SPI3_MISO_PIN PC11
#define SPI3_MOSI_PIN PC12
#define SPI3_MISO_PIN PC11
#define SPI3_MOSI_PIN PC12
#define USE_ADC
#define ADC_CHANNEL_1_PIN PC1
#define ADC_CHANNEL_2_PIN PC2
#define ADC_CHANNEL_3_PIN PA0
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_1
#define VBAT_ADC_CHANNEL ADC_CHN_2
#define RSSI_ADC_CHANNEL ADC_CHN_3
// V2 has airspeed input
#if defined( CLRACINGF4AIRV2 )
#define ADC_CHANNEL_4_PIN PC5
#define ADC_AIRSPEED_CHANNEL ADC_CHN_4
#define CURRENT_METER_SCALE 250
#endif
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_1
#define VBAT_ADC_CHANNEL ADC_CHN_2
#define RSSI_ADC_CHANNEL ADC_CHN_3
#define USE_ESC_SENSOR
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define DEFAULT_FEATURES (FEATURE_CURRENT_METER | FEATURE_TELEMETRY| FEATURE_VBAT | FEATURE_OSD )
#define SPEKTRUM_BIND_PIN UART1_RX_PIN
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
// Number of available PWM outputs
#define MAX_PWM_OUTPUT_PORTS 6
#define TARGET_MOTOR_COUNT 6
#define MAX_PWM_OUTPUT_PORTS 8
#define TARGET_MOTOR_COUNT 8
#define TARGET_IO_PORTA (0xffff & ~(BIT(14)|BIT(13)))
#define TARGET_IO_PORTB (0xffff & ~(BIT(2)))
#define TARGET_IO_PORTC (0xffff & ~(BIT(15)|BIT(14)|BIT(13)))
#define TARGET_IO_PORTD BIT(2)
// V2 has airspeed input
#if defined( CLRACINGF4AIRV2 )
#define USABLE_TIMER_CHANNEL_COUNT 8
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(9) | TIM_N(11) )
#define USED_TIMERS ( TIM_N(1) | TIM_N(3) | TIM_N(4) | TIM_N(8)| TIM_N(11) | TIM_N(12) )
#else
#define USABLE_TIMER_CHANNEL_COUNT 8
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(9) | TIM_N(11) )
#endif

4
src/main/target/CLRACINGF4AIR/target.mk
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@ -5,9 +5,9 @@ TARGET_SRC = \
io/osd.c \
drivers/accgyro/accgyro_mpu.c \
drivers/accgyro/accgyro_fake.c \
drivers/accgyro/accgyro_mpu6500.c \
drivers/accgyro/accgyro_mpu6500.c \
drivers/accgyro/accgyro_spi_mpu6500.c \
drivers/accgyro/accgyro_spi_mpu6000.c \
drivers/accgyro/accgyro_spi_mpu6000.c \
drivers/barometer/barometer_bmp085.c \
drivers/barometer/barometer_bmp280.c \
drivers/barometer/barometer_spi_bmp280.c \

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